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In this paper, we propose a new impedance control method for flexible joint robot manipulators. An ideal nonlinear impedance dynamic model is formulated in the workspace. Three control strategies that meet the requirement of desired impedance dynamics and stability of the whole system are derived by using backstepping control approach. The control system has a cascade structure with the designed three control strategies serially connecting to each other. Stability of the closed-loop system is analyzed using Lyapunov stability theory. Impedance control experiments are carried out on a 2-link flexible joint robot manipulator with a force sensor equipped at the endeffector. The results demonstrate the effectiveness of the proposed impedance control method.

A New Impedance Control Method Using Backstepping Approach for Flexible Joint Robot Manipulators